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Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen-Weßling, Germany.
Högskolan i Skövde, Institutionen för informationsteknologi. Högskolan i Skövde, Forskningscentrum för Informationsteknologi. (Interaction Lab)
Department of Electrical Engineering and Automation, Aalto Univeristy, Aalto, Finland.
2015 (engelsk)Inngår i: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids), IEEE Computer Society, 2015, s. 202-209Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper demonstrates a method for simulta-neous transfer of positional and force requirements for in-contact tasks from a human instructor to a robotic arm throughkinesthetic teaching. This is achieved by a specific use of thesensory configuration, where a force/torque sensor is mountedbetween the tool and the flange of a robotic arm endowedwith integrated torque sensors at each joint. The humandemonstration is modeled using Dynamic Movement Primitives.Following human demonstration, the robot arm is provided withthe capacity to perform sequential in-contact tasks, for examplewriting on a notepad a previously demonstrated sequence ofcharacters. During the reenactment of the task, the systemis not only able to imitate and generalize from demonstratedtrajectories, but also from their associated force profiles. In fact,the implemented framework is extended to successfully recoverfrom perturbations of the trajectory during reenactment andto cope with dynamic environments.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2015. s. 202-209
Emneord [en]
physical human-robot interaction, programming by demonstration
HSV kategori
Forskningsprogram
Interaction Lab (ILAB)
Identifikatorer
URN: urn:nbn:se:his:diva-11671DOI: 10.1109/HUMANOIDS.2015.7363552ISI: 000377954900031Scopus ID: 2-s2.0-84962296207ISBN: 978-1-4799-6885-5 (tryckt)OAI: oai:DiVA.org:his-11671DiVA, id: diva2:868199
Konferanse
15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, November 3-5, 2015
Tilgjengelig fra: 2015-11-09 Laget: 2015-11-09 Sist oppdatert: 2018-08-03bibliografisk kontrollert

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